CN106477324A - A kind of mechanical clamp and the machinery crawl Handling device comprising this mechanical clamp - Google Patents
A kind of mechanical clamp and the machinery crawl Handling device comprising this mechanical clamp Download PDFInfo
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- CN106477324A CN106477324A CN201510550330.2A CN201510550330A CN106477324A CN 106477324 A CN106477324 A CN 106477324A CN 201510550330 A CN201510550330 A CN 201510550330A CN 106477324 A CN106477324 A CN 106477324A
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- mechanical arm
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- postbrachium
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Abstract
The present invention relates to a kind of mechanical clamp and the machinery crawl Handling device comprising this mechanical clamp.There is below described mechanical clamp the mechanical arm 12 including the forearm 16 becoming fold-line-shaped integrated molding and postbrachium 17 and connection mechanical arm installing plate 10；Described mechanical arm installing plate 10 top is provided with cylinder 7, bottom is provided with mechanical arm action pallet 11, the piston rod of cylinder 7 connects mechanical arm action pallet 11 and drives its reciprocating motion, and then drives forearm 16 and postbrachium 17 reciprocating rotation, thus realizing opening and crawl of mechanical arm 12；Described postbrachium 17 has backing plate mounting groove 13, is provided with elastic component 9 in groove.Described machinery crawl Handling device includes multiple mechanical clamps 5；They are connected on fixture beam 3 by the linear slider 4 of top and can Bidirectional slides thereon；At the middle part of described fixture beam 3, there is electromagnetism two-position five-way valve 2, its controllable compressed air enters in the cylinder 7 on each mechanical clamp 5, and then control the motion of piston rod.
Description
Technical field
The invention belongs to mechanical clamp equipment technical field.
Background technology
Machinery crawl Handling device is some holding functions that can imitate staff and arm, in order to capture, to carry the automatic pilot of object by fixed routine.It can replace the heavy labor of people to realize the mechanization and the automatization that produce, can operate to protect personal safety, thus be widely used in the aspects such as machine-building, metallurgy, electronics, light industry and atomic energy under hostile environment.Compared with workman, machinery crawl Handling device shows a lot of advantages, it not only can free workman from the duplication of labour and harmful work, also there is higher motility and precision, and various parts can be carried, no matter being fine or heaviness, many production fields to improve produce automatization level, raise labour productivity, product quality, economic benefit and improve workman's operating condition etc. fermentation play irreplaceable effect.Many labor condition are severe it is desirable to the stable occasion of the quality of production is using the inexorable trend that machinery crawl Handling device is social development.
Machinery crawl one drawback of Handling device generally existing of the prior art：Machinery crawl Handling device crawl position is usually hard material such as metal, is easily damaged when capturing article especially delicates such as ceramic and is grabbed article；Particularly in the higher article of crawl article in irregular shape or temperature it is impossible to fix article well, article are easily made to come off.
In calcined kaolin field, being grabbed article is to fill kaolinic saggar, this saggar is cylindrical, it is made up of pottery or fireclay refractory, matter is crisp frangible, when the fixture of machinery crawl Handling device holds tension, easily it is caught broken, although hold Tai Song and can not press from both sides or pick up reluctantly but easily come off and break into pieces again.In addition; industrial for scale operation; a set of machinery crawl Handling device is often simultaneously provided with multiple mechanical clamps; grip multiple saggars under being uniformly controlled of control system simultaneously; but between different saggars; not strict conformance on size and dimension, often has the difference in size, and these differences are the intrinsic difference producing in the course of processing of saggar itself.This generates problem, because multiple mechanical clamp is uniformly controlled by a set of control system, the dynamics of its gripping is also be uniformly controlled, and when larger saggar is just gripped, less saggar can may not press from both sides or presss from both sides insecure；When less saggar is just gripped, larger saggar may too be gripped and is caught broken.
Therefore, this area needed a kind of not only can having can ensure that during crawl to grip article but also can protect the mechanical clamp of article and comprise the machinery crawl Handling device of this mechanical clamp.
Above-mentioned target is realized by assembly of the invention.
Content of the invention
First aspect present invention is related to a kind of mechanical clamp 5, there are 4 mechanical arms 12 below, each mechanical arm 12 includes into forearm 16 and the postbrachium 17 of fold-line-shaped integrated molding, and each mechanical arm 12 is connected with the connecting plate 18 being fixed on below mechanical arm installing plate 10 by axle 15 in the connecting portion of its forearm 16 and postbrachium 17；Described mechanical arm installing plate 10 top is provided with cylinder 7, and bottom is provided with mechanical arm action pallet 11, is connected with running through the connecting rod 14 of described mechanical arm installing plate 10 setting between the piston rod of cylinder 7 and mechanical arm action pallet 11；Have inside described cylinder 7 that piston rod is reduced to position 6 and piston rod reaches position 8, piston rod is reduced to position 6 in cylinder and cylinder reaches and moves back and forth between position 8, connecting rod 14 and mechanical arm action pallet 11 is driven to move back and forth, and described forearm 16 is configured to the reciprocating motion with described mechanical arm action pallet 11 and reciprocating rotation, and drive postbrachium 17 reciprocating rotation, thus realize opening and crawl of mechanical arm 12；Described postbrachium 17 has backing plate mounting groove 13, is provided with elastic component 9 in groove, for article contacts to be captured.
Wherein, described elastic component 9 is preferably made up of flexible high-temperature resistant material, and described flexible high-temperature resistant material is preferably polyurethane because polyurethane have high temperature resistant（130~150℃）, wear-resistant (0.01 ~ 0.l0cm3/1.6lkm, be about 3 ~ 5 times of rubber), the property such as elasticity is good, be installed in backing plate mounting groove 13, for article contacts to be captured, on the one hand cushioning effect can be played, effectively prevent the damage to article for the fixture；On the other hand elasticity is had due to itself, for the article of in irregular shape or size not strict conformance, all can capture, because this elastic component can lean on its own elastic deformation to offset the problem being grabbed item sizes not strict conformance；And it can be used for the crawl of high temp objects and the transport that temperature is less than 130 DEG C.
In a preferred embodiment of the present invention, described mechanical arm action pallet 11 is I shape, and described forearm 16 is stuck between two parallel beams of this I shape mechanical arm action pallet 11.
In a preferred embodiment of the present invention, described cylinder 7 is the cylinder with compressed air as working media.
Second aspect present invention is related to a kind of machinery crawl Handling device, and it includes multiple above-mentioned mechanical clamps 5；Each mechanical clamp 5 pass through its above linear slider 4 be connected on fixture beam 3, described linear slider 4 can on described fixture beam 3 Bidirectional slide；At the middle part of described fixture beam 3, there is electromagnetism two-position five-way valve 2, described electromagnetism two-position five-way valve 2, under the control of control system l, controls compressed air to enter in the cylinder 7 on each mechanical clamp 5, and then controls the motion of piston rod.
In the mechanical clamp and machinery crawl Handling device of this invention, control the motion of piston rod in cylinder by compressed air as working media, this is because air does not have special harmful performance, does not have hazard of catch fire, is not afraid of over loading and can work under many adverse environments, simultaneously, the compressibility of compressed air is strong, therefore compressed air has certain resiliency, by contrast, the liquid-working-medium such as hydraulic oil does not then have resiliency because of its compressibility difference.Therefore using compressed air as working media, its force process is relatively soft, it is to avoid treats the force suddenly of crawl article and causes article to crush.In addition; when clipped object product are held tension by fixture; the counteracting force producing can react on this compressed air by piston rod, and the cushioning effect that this compressed air compressibility causes can make piston rod not continue to clamp clipped object product, is also beneficial to protect article not to be caught broken.
Brief description
Fig. 1 is the schematic diagram of the single mechanical clamp in the machinery crawl Handling device of the present invention；
Fig. 2 is the schematic diagram of the machinery crawl Handling device of the present invention.
In figure：L, control system；2nd, electromagnetism two-position five-way valve；3rd, fixture beam；4th, linear slider；5th, mechanical clamp；6th, piston rod is reduced to position；7th, cylinder；8th, piston rod reaches position；9th, elastic component；10th, mechanical arm installing plate；11st, mechanical arm action pallet；12nd, mechanical arm；13rd, backing plate mounting groove；14th, connecting rod；15th, axle；16th, forearm；17th, rear wall；18th, connecting plate.
Specific embodiment
As shown in Figure l, the lower section of mechanical clamp 5 has 4 mechanical arms 12, each mechanical arm 12 includes into forearm 16 and the postbrachium 17 of fold-line-shaped integrated molding, and each mechanical arm 12 is connected with the connecting plate 18 being fixed on below mechanical arm installing plate 10 by axle 15 in the connecting portion of its forearm 16 and postbrachium 17；Described mechanical arm installing plate 10 top is provided with cylinder 7, and bottom is provided with mechanical arm action pallet 11, is connected with running through the connecting rod 14 of described mechanical arm installing plate 10 setting between cylinder 7 and mechanical arm action pallet 11；Have inside described cylinder 7 that piston rod is reduced to position 6 and piston rod reaches position 8, piston rod is reduced to position 6 in cylinder and cylinder reaches and moves back and forth between position 8, connecting rod 14 and mechanical arm action pallet 11 is driven to move back and forth, and described forearm 16 is configured to the reciprocating motion with described mechanical arm action pallet 11 and reciprocating rotation, and drive postbrachium 17 reciprocating rotation, thus realize opening and crawl of mechanical arm 12；Described postbrachium 17 has backing plate mounting groove 13, is provided with elastic component 9 in groove, for article contacts to be captured.
As shown in Fig. 2 the machinery crawl Handling device of the present invention includes the mechanical clamp 5 of multiple figure l；Each mechanical clamp 5 pass through its above linear slider 4 be connected on fixture beam 3, described linear slider 4 can on described fixture beam 3 Bidirectional slide；At the middle part of described fixture beam 3, there is electromagnetism two-position five-way valve 2, described electromagnetism two-position five-way valve 2, under the control of control system l, controls compressed air to enter in the cylinder 7 on each mechanical clamp 5, and then controls the motion of piston rod.
After control system l sends signal, electromagnetism two-position five-way valve 2 controls compressed air to enter in the cylinder 7 on each mechanical clamp 5, and then controls the motion of piston rod.When control system l sends closure signal, piston rod movement to the piston rod in cylinder 7 is reduced at position 6, and piston rod drives connecting rod 14 to move upwards together with mechanical arm action pallet 11, thus driving mechanical arm 12 closes, captures article.After article are crawled, control system l controls linear slider 4 to a Slideslip by controlling electromagnetism two-position five-way valve 2, by article carrying to destination.When control system l sends and opens signal, the piston rod movement in cylinder 7 to piston rod reaches at position 8, and piston rod drives connecting rod 14 to move downward together with mechanical arm action pallet 11, thus driving mechanical arm 12 opens, the article of crawl is put down.After article are laid down, control system l controls linear slider 4 to another Slideslip by controlling electromagnetism two-position five-way valve 2, returns to starting point, repeats aforesaid operations.
When capturing article using the grasp handling device of this invention, three mechanical arms and article contacts are at least can ensure that, it is to avoid article come off；Simultaneously in backing plate mounting groove 13 built with elastic component 9, for article contacts to be captured, on the one hand can play cushioning effect, effectively prevent the damage to article for the fixture；On the other hand elasticity is had due to itself, the article for shape or size not strict conformance all can be captured with mass simultaneous；And it can be used for the crawl of high temp objects and transport.
Embodiment l：Discharging for saggar in calcined kaolin industry and piling
Saggar is a kind of kiln furnitures, and it is to be formed through high-temperature roasting by after clay product molding, is used for holding Kaolin and is incorporated to kiln calcining in calcined kaolin industry.Saggar when kiln discharge cools down and moves to discharging and piling operation, temperature be about 80 ~ 100 DEG C, originally always by workman with thick proximity gloves manual cleaning and piling, high labor intensive and inefficiency.Want always to carry out discharging and palletization operations with mechanical clamp to saggar; but the restriction due to saggar machining accuracy, even with a collection of saggar made, it dimensionally also has the fluctuation of up to ± 5mm; and also may not for rule cylindrical shape, this give high-volume saggar scale crawl cause difficulty.It is made up of polyurethane material using the elastic component 9 in the mechanical clamp and machinery crawl Handling device and backing plate mounting groove 13 of the present invention, successfully discharging and piling can be carried out to the saggar of kiln discharge.Find in practice, when the saggar quantity capturing and carry is 1000, saggar percentage of damage is 0, and the degree of wear is extremely low.By contrast, if not setting up this elastic component 9, when equally capturing 1000 saggars, there are nearly 90 saggars successfully not captured, separately having 18 saggars to be caught broken.
Advantages of the present invention：
L, assembly of the invention not only can ensure that gripping article during crawl but also can protect article, and the degree that is damaged or worn out of article is substantially reduced；2nd, the article of several shapes or size not strict conformance can be captured simultaneously and carry；3rd, can capture and carry high temperature article.
Claims (4)
1. a kind of mechanical clamp (5), there are 4 mechanical arms (12) below, each mechanical arm (12) includes into forearm (16) and the postbrachium (17) of fold-line-shaped integrated molding, and each mechanical arm (12) is connected with the connecting plate (18) being fixed on below mechanical arm installing plate (10) by axle (15) in the connecting portion of its forearm (16) and postbrachium (17)；It is characterized in that：Described mechanical arm installing plate (10) top is provided with cylinder (7), bottom is provided with mechanical arm action pallet (11), and the connecting rod (14) being arranged with running through described mechanical arm installing plate (10) between the piston rod of cylinder (7) and mechanical arm action pallet (11) is connected；Have inside described cylinder (7) that piston rod is reduced to position (6) and piston rod reaches position (8), piston rod is reduced to position (6) in cylinder and cylinder reaches and moves back and forth between position (8), connecting rod (14) and mechanical arm action pallet (11) is driven to move back and forth, and described forearm (16) is configured to the reciprocating motion with described mechanical arm action pallet (11) and reciprocating rotation, and drive postbrachium (17) reciprocating rotation, thus realize opening and crawl of mechanical arm (12)；Described postbrachium (17) has backing plate mounting groove (13), is provided with elastic component (9) in groove, for article contacts to be captured.
2. the mechanical clamp according to claim l it is characterised in that：Described mechanical arm action pallet (11) is I shape, and described forearm (16) is stuck between two parallel beams of this I shape mechanical arm action pallet (11).
3. the mechanical clamp according to claim l it is characterised in that：Described cylinder (7) is the cylinder with compressed air as working media.
4. a kind of machinery crawl Handling device, it includes multiple mechanical clamps (5) according to claim l；The linear slider (4) that each mechanical clamp (5) is passed through above it is connected on fixture beam (3), and described linear slider (4) can be in the upper Bidirectional slide of described fixture beam (3)；It is characterized in that：At the middle part of described fixture beam (3), there is electromagnetism two-position five-way valve (2), described electromagnetism two-position five-way valve (2) is under the control of control system (1), control compressed air to enter in the cylinder (7) on each mechanical clamp (5), and then control the motion of piston rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510550330.2A CN106477324A (en) | 2015-09-01 | 2015-09-01 | A kind of mechanical clamp and the machinery crawl Handling device comprising this mechanical clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510550330.2A CN106477324A (en) | 2015-09-01 | 2015-09-01 | A kind of mechanical clamp and the machinery crawl Handling device comprising this mechanical clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106477324A true CN106477324A (en) | 2017-03-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510550330.2A Pending CN106477324A (en) | 2015-09-01 | 2015-09-01 | A kind of mechanical clamp and the machinery crawl Handling device comprising this mechanical clamp |
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| Country | Link |
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| CN (1) | CN106477324A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107986004A (en) * | 2017-12-15 | 2018-05-04 | 义乌市晶凯机械设备有限公司 | A kind of work holder flexibly stablized |
| CN108557466A (en) * | 2018-04-02 | 2018-09-21 | 无锡信昌机械科技有限公司 | Pneumatic clamper captures tooling |
| CN109250375A (en) * | 2017-07-14 | 2019-01-22 | 李双玉 | A kind of equipment of automatic replenishing |
-
2015
- 2015-09-01 CN CN201510550330.2A patent/CN106477324A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109250375A (en) * | 2017-07-14 | 2019-01-22 | 李双玉 | A kind of equipment of automatic replenishing |
| CN107986004A (en) * | 2017-12-15 | 2018-05-04 | 义乌市晶凯机械设备有限公司 | A kind of work holder flexibly stablized |
| CN108557466A (en) * | 2018-04-02 | 2018-09-21 | 无锡信昌机械科技有限公司 | Pneumatic clamper captures tooling |
| CN108557466B (en) * | 2018-04-02 | 2024-01-23 | 无锡信昌机械科技有限公司 | Pneumatic claw snatchs frock |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170308 |
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| WD01 | Invention patent application deemed withdrawn after publication |